Intelligent target range trackless vehicle control method and system

Abstract

The invention discloses an intelligent target range trackless vehicle control method and system, and belongs to the technical field of target range training, and the method comprises the following steps: setting a driving range and a vehicle starting point; generating a random driving path; the method comprises the following steps: acquiring position information and topographic information uploaded by a trackless vehicle, generating a driving route map and a three-dimensional topographic map, splicing the three-dimensional topographic map to obtain a preliminary simulated topographic map, marking a newly added area in the preliminary simulated topographic map, analyzing the offset travel of the trackless vehicle according to the topography of the marked area, and correcting the driving route map according to the offset travel. And judging whether the terrain in the corrected simulated topographic map is continuous to obtain a final simulated topographic map, calculating position information according to the tail end of a formal route map in the final simulated topographic map, and taking the position information as final positioning information of the railway vehicle, so that the method has the effects of quickly and accurately correcting the positioning of the trackless vehicle and effectively improving the moving track precision.

Description

Technical Field

[0001] The present invention relates to the field of training ranges, and in particular to a control method and system for trackless vehicles in a smart range. Background Art

[0002] At present, trackless vehicles in smart shooting ranges are an important part of the smart shooting range system. They are usually highly intelligent and flexible to meet the needs of modern military training for actual combat, efficiency and safety. Trackless vehicles are intelligent target vehicles that can move freely on roads without fixed tracks. They integrate advanced unmanned driving technology, intelligent control systems, and firepower strike data collection and analysis functions. In the smart shooting range, trackless vehicles can simulate various battlefield targets and provide trainees with a highly similar simulation training environment, thereby improving their actual combat training level.

[0003] The above-mentioned prior art solutions have the following defects: because the accuracy of the target reporting needs to be ensured, the trackless vehicle needs to be accurately positioned when moving in the shooting range. However, due to the uneven ground surface of the site, the friction coefficient of the vehicle when driving, etc., the positioning accuracy is not accurate enough, and it is difficult to grasp the accurate movement trajectory of the vehicle. Summary of the invention

[0004] In order to accurately grasp the moving trajectory of the vehicle, the present application provides a method and system for controlling trackless vehicles in a smart shooting range.

[0005] On the one hand, the present application provides a smart shooting range trackless vehicle control method using the following technical solutions: A method for controlling a trackless vehicle in a smart shooting range comprises the following steps: Set the driving range and vehicle starting point; Within the driving range, receiving instructions to generate a driving path, and transmitting the driving path to the trackless vehicle; The trackless vehicle scans the terrain ahead and uploads terrain information and location information. The location information obtains the benchmark observation value through the base station, measures the location signal and compares the location signal with the preset location coordinates to obtain the execution coordinates. The trackless vehicle compares its own location signal with the execution coordinates and obtains the location information through the positioning method; Obtain the location information and terrain information uploaded by the trackless vehicle, generate a driving route map based on the location information, driving range and vehicle starting point, and generate a three-dimensional terrain map and record the time at each set interval based on the terrain information uploaded during the period; According to the time and the driving route map, the three-dimensional topographic map is spliced ​​to obtain a preliminary simulated topographic map; When a new three-dimensional topographic map is generated, a newly added area is marked on the preliminary simulated topographic map, the offset travel of the trackless vehicle is analyzed according to the topography of the marked area, the driving route map is corrected according to the offset travel, and the three-dimensional topographic map is spliced ​​according to the corrected driving route map to obtain a corrected simulated topographic map; Determine whether the terrain in the modified simulated terrain map is continuous; If it is continuous, the revised simulated topographic map will be used as the final simulated topographic map; If it is not continuous, the discontinuous area is marked, and the three-dimensional topographic map in the area is spliced ​​in a way that the terrain can be continuous, and the re-spliced ​​corrected simulated topographic map is used as the final simulated topographic map; The position information is calculated according to the end of the formal route map in the final simulated terrain map as the final positioning information of the rail vehicle.

[0006] By adopting the above scheme, since the area of ​​the shooting range is very large and it is impossible to scan the entire terrain of the shooting range, a terrain map representing the trackless vehicle passing through during its driving process can be drawn by analyzing the terrain information and location information uploaded by the trackless vehicle. The offset travel of the trackless vehicle can be analyzed through the terrain map, and then the terrain map can be calibrated through the offset travel. Finally, it is verified whether the terrain in the terrain map is continuous to ensure the accuracy of the final positioning. The positioning of the trackless vehicle can be easily and accurately corrected, effectively improving the positioning accuracy of the trackless vehicle.

[0007] Preferably, the step of "the trackless vehicle scans the terrain ahead and uploads terrain information and location information" further includes: A laser scanner is set at the front end of the trackless vehicle to scan the ground terrain; Acquire the travel speed and steering angle of the trackless vehicle, and generate terrain data with relative coordinates and angles as terrain information based on the travel speed and steering angle; The trackless vehicle obtains location information and uploads terrain information and location information.

[0008] By adopting the above scheme, the terrain information is scanned by a laser scanner, which is accurate and does not affect the driving of trackless vehicles. Since trackless vehicles travel on random paths, the terrain information is required to exist in the form of a surface, and then the terrain information is combined through the driving speed and steering angle to obtain complete terrain data.

[0009] Preferably, the step of "generating a three-dimensional topographic map at set intervals according to the topographic information uploaded during the period and recording the time" further includes: At each set time interval, select the terrain information uploaded during that period; Continuously splicing and fitting terrain data according to selected terrain information to generate a three-dimensional terrain map; Record the upload time of both ends of the 3D terrain map.

[0010] By adopting the above scheme, a three-dimensional topographic map is obtained by continuously splicing and fitting the topographic data, and the terrain data in fragment form is successfully drawn into a complete three-dimensional topographic map.

[0011] Preferably, the method further comprises the following steps: Preset difference limits; Overlapping the final simulated terrain maps corresponding to each trackless vehicle to generate a total simulated terrain map; Mark the areas in the total simulated topography map where the overlaps of different final simulated topography maps are inconsistent; Selecting a plurality of final simulated topographic maps corresponding to the marked area, and calculating the volume of each final simulated topographic map corresponding to the marked area in the marked area; Subtract the calculated volumes of each final simulated terrain to obtain a difference, select the maximum difference, and determine whether the maximum difference exceeds the difference limit; If the difference limit is not exceeded, one final simulated topographic map in the marked area is retained, a final simulated topographic map that is most continuous with the edge of the marked area is selected from all the final simulated topographic maps in the marked area, the remaining final simulated topographic maps in the marked area are deleted, and the mark is eliminated; If the difference limit is exceeded, an alarm is issued.

[0012] By adopting the above scheme, after the trackless vehicle positioning is corrected, the driving data of multiple trackless vehicles can be used to generate a total simulated topographic map. If the data are accurate, then the final simulated topographic map should be error-free. If there is a large difference in the overlapping part of the graph, it can be determined that an error has occurred in the calculation, and an alarm needs to be used to remind the user to make corrections.

[0013] Preferably, the method further comprises the following steps: Preset slope limits; After the training is completed, the total simulated topographic map is called out and the total simulated topographic map is divided into multiple blocks; Calculate the maximum slope of the terrain in each block and determine whether the maximum slope exceeds the slope limit; If the slope limit is exceeded, the block will be marked and the marked total simulated terrain map will be displayed. When the driving path is generated next time, the driving path will not pass through the marked block.

[0014] By adopting the above solution, after the training is completed, the system can automatically determine whether the randomly generated path passes through too steep terrain. When generating the path in the next training, it will intelligently avoid the steep terrain and reduce the possibility of the trackless vehicle being subjected to severe bumps.

[0015] On the other hand, the present application provides a smart shooting range trackless vehicle control system that adopts the following technical solutions: A smart shooting range trackless vehicle control system, comprising a master control system arranged on a server and a subsystem arranged on each trackless vehicle, wherein the subsystem comprises an information acquisition module, a wireless communication module, and a driving control module; The information acquisition module scans the terrain in front of the trackless vehicle, obtains terrain information, obtains position information through a positioning device, and sends the terrain information and position information to the wireless communication module; The wireless communication module uploads terrain information and location information, and receives the driving path. The location information obtains a reference observation value through the base station, measures the location signal and compares the location signal with the preset location coordinates to obtain the execution coordinates. The trackless vehicle compares its own location signal with the execution coordinates, obtains the location information through the positioning method, and transmits the driving path and location information to the driving control module; The travel control module determines its own position according to the position information, and then controls the movement of the trackless vehicle through the travel path; The master control system includes an information storage module, a path generation module, an image generation module, a three-dimensional generation module, a correction judgment module, and a positioning correction module; The information storage module receives the information uploaded by the subsystem and stores the information, and the information storage module pre-stores the driving range and the vehicle starting point; The path generation module calls the driving range and vehicle starting point of the information storage module, receives instructions to generate a driving path within the driving range, and sends the driving path to the corresponding subsystem; The image generation module calls the information stored in the information storage module, generates a driving route map according to the location information, the driving range and the starting point of the vehicle, generates a three-dimensional terrain map according to the terrain information uploaded during the period of time at each set interval and records the time, splices the three-dimensional terrain map according to the time and the driving route map to obtain a preliminary simulated terrain map, and transmits the driving route map, the three-dimensional terrain map and the preliminary simulated map to the three-dimensional generation module; The three-dimensional generation module determines the newly added area in the received preliminary simulated topographic map, marks the newly added area, analyzes the offset travel of the trackless vehicle according to the terrain material of the marked area, corrects the driving route map according to the offset travel, splices the three-dimensional topographic map according to the corrected driving route map to obtain a corrected simulated topographic map, and transmits the corrected simulated topographic map to the correction judgment module; The correction judgment module judges whether the terrain in the corrected simulated terrain map is continuous. If it is continuous, the corrected simulated terrain map is used as the final simulated terrain map. If it is not continuous, the discontinuous area is marked, and the three-dimensional terrain map in the area is spliced ​​in a way that the terrain can be continuous. The re-spliced ​​corrected simulated terrain map is used as the final simulated terrain map. The correction judgment module transmits the final simulated terrain map to the information storage module. The positioning correction module calls the final simulated topographic map of the information storage module, calculates the position information according to the end of the formal route map in the final simulated topographic map, takes the final positioning information of the rail vehicle as the final positioning information, and transmits the final positioning information to the data storage module and the corresponding subsystem.

[0016] By adopting the above scheme, since the area of ​​the shooting range is very large and it is impossible to scan the entire terrain of the shooting range, the master control system can draw a terrain map representing the trackless vehicle's driving process by analyzing the terrain information and position information uploaded by the trackless vehicle. The offset travel of the trackless vehicle can be analyzed through the terrain map, and then the terrain map can be calibrated through the offset travel. Finally, it is verified whether the terrain in the terrain map is continuous to ensure the accuracy of the final positioning. It can conveniently and accurately correct the positioning of the trackless vehicle and effectively improve the positioning accuracy of the trackless vehicle.

[0017] Preferably, the information acquisition module includes a laser scanner arranged at the front end of the trackless vehicle, the laser scanner scans the ground terrain, the information acquisition module obtains the driving speed and steering angle of the trackless vehicle, and generates terrain data with relative coordinates and angles from the ground terrain as terrain information based on the driving speed and steering angle.

[0018] By adopting the above scheme, the terrain information is scanned by a laser scanner, which is accurate and does not affect the driving of trackless vehicles. Since trackless vehicles travel on random paths, the terrain information is required to exist in the form of a surface, and then the terrain information is combined through the driving speed and steering angle to obtain complete terrain data.

[0019] Preferably, the image generation module selects the terrain information uploaded within a set time interval, continuously splices and fits the terrain data according to the selected terrain information to generate a three-dimensional terrain map, and records the upload time of both ends of the three-dimensional terrain map.

[0020] By adopting the above scheme, a three-dimensional topographic map is obtained by continuously splicing and fitting the topographic data, and the terrain data in fragment form is successfully drawn into a complete three-dimensional topographic map.

[0021] Preferably, the master control system further includes a master map generation module and a graph review module; The information storage module is preset with a difference limit; The general map generation module calls the difference limit and the final simulated topographic map stored in the information storage module, overlaps the final simulated topographic map corresponding to each trackless vehicle to generate a general simulated topographic map, marks the areas in the general simulated topographic map where the overlapping parts of different final simulated topographic maps are inconsistent, and transmits the marked final simulated topographic map to the graphic review module; The graphic review module selects multiple final simulated topographic maps corresponding to the marked area, calculates the volume of each final simulated topographic map corresponding to the marked area in the marked area, subtracts the calculated volumes of each final simulated topography to obtain a difference, selects the maximum difference, and determines whether the maximum difference exceeds the difference limit. If it does not exceed the difference limit, retains a final simulated topographic map in the marked area, selects a final simulated topographic map that is most continuous with the edge of the marked area from all the final simulated topographic maps in the marked area, deletes the parts of the remaining final simulated topographic maps in the marked area, removes the mark, and transmits the processed final simulated topographic map to the information storage module. If it exceeds the difference limit, the graphic review module issues an alarm.

[0022] By adopting the above scheme, after the trackless vehicle positioning is corrected, the driving data of multiple trackless vehicles can be used to generate a total simulated topographic map. If the data are accurate, then the final simulated topographic map should be error-free. If there is a large difference in the overlapping part of the graph, it can be determined that an error has occurred in the calculation, and an alarm needs to be used to remind the user to make corrections.

[0023] Preferably, the master control system further includes a path modification module; The information storage module is also preset with a slope limit value; The path modification module calls the slope limit and the total simulated terrain map stored in the information storage module, divides the total simulated terrain map into a plurality of blocks, calculates the maximum slope of the terrain in each block, determines whether the maximum slope exceeds the slope limit, and if so, marks the block, transmits the marked total simulated terrain map to the information storage module and displays it; The path generation module calls the total simulated terrain map of the information storage module, and when generating the driving path, the driving path will not pass through the marked blocks.

[0024] By adopting the above solution, after the training is completed, the system can automatically determine whether the randomly generated path passes through too steep terrain. When generating the path in the next training, it will intelligently avoid the steep terrain and reduce the possibility of the trackless vehicle being subjected to severe bumps.

[0025] In summary, the present invention has the following beneficial effects: 1. It can conveniently and accurately correct the positioning of trackless vehicles and effectively improve the positioning accuracy of trackless vehicles.

[0026] 2. After the training is completed, the system can automatically determine whether the randomly generated path passes through too steep terrain. When generating the path in the next training, it will intelligently avoid the steep terrain and reduce the possibility of the trackless vehicle being subjected to severe bumps. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is an overall system block diagram of the second embodiment of the present application.

[0028] Figure 2 It is a module block diagram of the master control system and subsystems of Example 2 of the present application.

[0029] Description of reference numerals: 1. General control system; 11. Information storage module; 12. Path generation module; 13. Image generation module; 14. Three-dimensional generation module; 15. Correction judgment module; 16. Positioning correction module; 17. General map generation module; 18. Graphic review module; 19. Path modification module; 2. Subsystem; 21. Information acquisition module; 211. Laser scanner; 22. Wireless communication module; 23. Driving control module. DETAILED DESCRIPTION

[0030] Embodiment 1: This embodiment of the present application discloses a method for controlling a trackless vehicle in a smart shooting range, and the specific steps are as follows: S100, setting a driving range, a vehicle starting point, a difference limit, and a slope limit.

[0031] S200: within a driving range, receiving instructions to generate a driving path, and transmitting the driving path to the trackless vehicle.

[0032] S300, a laser scanner 211 is arranged at the front end of the trackless vehicle, and the laser scanner 211 scans the ground terrain.

[0033] S301, obtaining the driving speed and steering angle of the trackless vehicle, and generating terrain data with relative coordinates and angles from the ground terrain as terrain information according to the driving speed and steering angle.

[0034] S302, the trackless vehicle obtains location information and uploads terrain information and location information. The trackless vehicle is positioned through a base station near the shooting range, that is, the location information of the trackless vehicle is obtained using RTK differential positioning technology. The location information obtains the benchmark observation value through the base station, measures the location signal and compares the location signal with the preset location coordinates to obtain the execution coordinates. The trackless vehicle compares its own location signal with the execution coordinates and obtains the location information through the positioning method.

[0035] S400, obtaining the location information and terrain information uploaded by the trackless vehicle, generating a driving route map according to the location information, driving range and vehicle starting point, and selecting the terrain information uploaded within a set time interval.

[0036] S401, continuously splicing and fitting terrain data according to selected terrain information to generate a three-dimensional terrain map.

[0037] S402: Record the upload time of both ends of the three-dimensional topographic map.

[0038] S500: splice the three-dimensional topographic map according to the time and the driving route map to obtain a preliminary simulated topographic map.

[0039] S600, when generating a new three-dimensional topographic map, marking the newly added area on the preliminary simulated topographic map, analyzing the offset travel of the trackless vehicle according to the topography of the marked area, correcting the driving route map according to the offset travel, and splicing the three-dimensional topographic map according to the corrected driving route map to obtain a corrected simulated topographic map.

[0040] S700: Determine whether the terrain in the modified simulated terrain map is continuous.

[0041] S701: If it is continuous, the corrected simulated topographic map is used as the final simulated topographic map.

[0042] S702: If it is discontinuous, mark the discontinuous area, splice the three-dimensional topographic map in the area in a way that the terrain can be continuous, and use the re-spliced ​​corrected simulated topographic map as the final simulated topographic map.

[0043] S800, calculating the position information according to the terminal of the formal route map in the final simulated topographic map as the final positioning information of the rail vehicle.

[0044] S900: Overlap the final simulated topographic maps corresponding to each trackless vehicle to generate a total simulated topographic map.

[0045] S901, marking the areas where the overlapping parts of the final simulated topographic maps in the total simulated topographic map are inconsistent.

[0046] S902: Select a plurality of final simulated topographic maps corresponding to the marked area, and calculate the volume of each final simulated topographic map corresponding to the marked area in the marked area.

[0047] S903, subtract the calculated volumes of each final simulated terrain to obtain a difference, select the maximum difference, and determine whether the maximum difference exceeds the difference limit.

[0048] S904. If the difference limit is not exceeded, retain one final simulated topographic map in the marked area, select one final simulated topographic map that is most continuous with the edge of the marked area among all the final simulated topographic maps in the marked area, delete the remaining final simulated topographic maps in the marked area, and remove the mark.

[0049] S905. If the difference limit is exceeded, an alarm is issued.

[0050] S1000: After the training is completed, call out the total simulated topographic map and divide the total simulated topographic map into multiple blocks.

[0051] S1001. Calculate the maximum slope of the terrain in each block, and determine whether the maximum slope exceeds the slope limit.

[0052] S1002: If the slope exceeds the limit, the block is marked, and the marked total simulated topographic map is displayed. When a driving path is generated next time, the driving path will not pass through the marked block.

[0053] The implementation principle of the control method of a trackless vehicle in a smart shooting range in the embodiment of the present application is as follows: since the shooting range is very large, it is impossible to scan the entire terrain of the shooting range. By analyzing the terrain information and position information uploaded by the trackless vehicle, a terrain map representing the trackless vehicle passing through during driving can be drawn. The offset travel of the trackless vehicle can be analyzed through the terrain map, and then the terrain map can be calibrated through the offset travel. Finally, it is verified whether the terrain in the terrain map is continuous to ensure the accuracy of the final positioning. The positioning of the trackless vehicle can be conveniently and accurately corrected, effectively improving the positioning accuracy of the trackless vehicle.

[0054] Embodiment 2: This application embodiment discloses a smart shooting range trackless vehicle control system, such as Figure 1 and Figure 2 As shown, it includes a master control system 1 set on a server and a subsystem 2 set on each trackless vehicle. The master control system 1 is connected to all subsystems 2 and can receive or transmit information. Subsystem 2 includes an information acquisition module 21, a wireless communication module 22, and a driving control module 23. The master control system 1 includes an information storage module 11, a path generation module 12, an image generation module 13, a three-dimensional generation module 14, a correction judgment module 15, a positioning correction module 16, a general map generation module 17, a graphic review module 18 and a path modification module 19.

[0055] like Figure 2As shown, the information acquisition module 21 includes a laser scanner 211 arranged at the front end of the trackless vehicle. The laser scanner 211 scans the ground terrain. The information acquisition module 21 obtains the driving speed and steering angle of the trackless vehicle, generates terrain data with relative coordinates and angles from the ground terrain as terrain information according to the driving speed and steering angle, obtains the position information through the positioning device, and sends the terrain information and position information to the wireless communication module 22. The positioning device can use GPS positioning or RTK differential positioning technology to obtain more accurate position information. The position information obtains the benchmark observation value through the base station, measures the position signal and compares the position signal with the preset position coordinate to obtain the execution coordinate. The trackless vehicle compares its own position signal with the execution coordinate and obtains the position information through the positioning method. The wireless communication module 22 uploads the terrain information and position information, receives the driving path, and transmits the driving path and position information to the driving control module 23. The driving control module 23 determines its own position according to the position information, and then controls the movement of the trackless vehicle through the driving path. The terrain information is scanned by the laser scanner 211 accurately without affecting the driving of the trackless vehicle. Since the trackless vehicle travels on a random path, the terrain information needs to exist in the form of a surface, and then the terrain information is combined through the driving speed and the steering angle to obtain complete terrain data.

[0056] like Figure 2 As shown, the information storage module 11 receives the information uploaded by the subsystem 2 and stores the information. The information storage module 11 pre-stores the driving range, the vehicle starting point, the difference limit, and the slope limit.

[0057] like Figure 2 As shown, the path generation module 12 calls the driving range and vehicle starting point of the information storage module 11, receives the instruction to generate the driving path within the driving range, and sends the driving path to the corresponding subsystem 2. The image generation module 13 calls the information stored in the information storage module 11, generates a driving route map according to the location information, driving range and vehicle starting point, selects the terrain information uploaded within the period of time at each set interval, continuously splices and fits the terrain data according to the selected terrain information to generate a three-dimensional terrain map, and records the upload time of both ends of the three-dimensional terrain map. The image generation module 13 splices the three-dimensional terrain map according to the time and the driving route map to obtain a preliminary simulated terrain map, and transmits the driving route map, the three-dimensional terrain map and the preliminary simulated map to the three-dimensional generation module 14. The three-dimensional terrain map is obtained by continuous splicing and fitting of the terrain data, and the terrain data in fragment form is successfully drawn into a complete three-dimensional terrain map.

[0058] like Figure 2As shown, the three-dimensional generation module 14 determines the newly added area in the received preliminary simulated topographic map, and marks the newly added area, analyzes the offset travel of the trackless vehicle according to the terrain of the marked area, corrects the driving route map according to the offset travel, splices the three-dimensional topographic map according to the corrected driving route map to obtain a corrected simulated topographic map, and transmits the corrected simulated topographic map to the correction judgment module 15.

[0059] like Figure 2 As shown, the correction judgment module 15 judges whether the terrain in the corrected simulated topographic map is continuous. If it is continuous, the corrected simulated topographic map is used as the final simulated topographic map. If it is not continuous, the discontinuous area is marked, and the three-dimensional topographic map in the area is spliced ​​in a way that the terrain can be continuous. The re-spliced ​​corrected simulated topographic map is used as the final simulated topographic map. The correction judgment module 15 transmits the final simulated topographic map to the information storage module 11.

[0060] like Figure 2 As shown, the positioning correction module 16 calls the final simulated topographic map of the information storage module 11, calculates the position information according to the end of the formal route map in the final simulated topographic map, takes the final positioning information of the rail vehicle as the final positioning information, and transmits the final positioning information to the data storage module and the corresponding subsystem 2.

[0061] like Figure 2 As shown, the overall map generation module 17 calls the difference limit and the final simulated topographic map stored in the information storage module 11, overlaps the final simulated topographic map corresponding to each trackless vehicle to generate an overall simulated topographic map, marks the areas in the overall simulated topographic map where the overlapping parts of different final simulated topographic maps are inconsistent, and transmits the marked final simulated topographic map to the graphic review module 18.

[0062] like Figure 2 As shown, the graphic review module 18 selects multiple final simulated topographic maps corresponding to the marked area, calculates the volume of each final simulated topographic map corresponding to the marked area in the marked area, subtracts the calculated volumes of each final simulated topography to obtain a difference, selects the maximum difference, and determines whether the maximum difference exceeds the difference limit. If it does not exceed the difference limit, then retain a final simulated topographic map in the marked area, select a final simulated topographic map that is most continuous with the edge of the marked area among all the final simulated topographic maps in the marked area, delete the parts of the remaining final simulated topographic maps in the marked area, and eliminate the mark, and transmit the processed final simulated topographic map to the information storage module 11. If it exceeds the difference limit, the graphic review module 18 issues an alarm. After the trackless vehicle positioning correction, the total simulated topographic map can also be generated by the driving data of multiple trackless vehicles. If the data are accurate, then the final simulated topographic map should be error-free. If the difference of the overlapping part in the graphic is large, it can be determined that the calculation is wrong and the user needs to be reminded to make corrections through an alarm.

[0063] like Figure 2 As shown, the path modification module 19 calls the slope limit and the total simulated terrain map stored in the information storage module 11, divides the total simulated terrain map into multiple blocks, calculates the maximum slope of the terrain in each block, and determines whether the maximum slope exceeds the slope limit. If it exceeds the slope limit, the block is marked, and the marked total simulated terrain map is transmitted to the information storage module 11 and displayed. The path generation module 12 calls the total simulated terrain map of the information storage module 11. When generating the driving path, the driving path will not pass through the marked blocks. After the training is completed, the system can automatically determine whether the randomly generated path passes through too steep terrain. When generating the path in the next training, it will intelligently avoid steep terrain to reduce the possibility of trackless vehicles being violently bumped.

[0064] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a trackless vehicle in a smart shooting range, characterized in that: The following steps are involved: Set the driving range and vehicle starting point; Within the driving range, receiving instructions to generate a driving path, and transmitting the driving path to the trackless vehicle; The trackless vehicle scans the terrain ahead and uploads terrain information and location information. The location information is obtained through the RTK base station and compared with the preset location coordinates; Obtain the location information and terrain information uploaded by the trackless vehicle, generate a driving route map based on the location information, driving range and vehicle starting point, and generate a three-dimensional terrain map based on the terrain information uploaded during the period of time at each set interval and record the time; According to the time and the driving route map, the three-dimensional topographic map is spliced ​​to obtain a preliminary simulated topographic map; When a new three-dimensional topographic map is generated, a newly added area is marked on the preliminary simulated topographic map, the offset travel of the trackless vehicle is analyzed according to the topography of the marked area, the driving route map is corrected according to the offset travel, and the three-dimensional topographic map is spliced ​​according to the corrected driving route map to obtain a corrected simulated topographic map; Determine whether the terrain in the modified simulated terrain map is continuous; If it is continuous, the revised simulated topographic map will be used as the final simulated topographic map; If it is not continuous, the discontinuous area is marked, and the three-dimensional topographic map in the area is spliced ​​in a way that the terrain can be continuous, and the re-spliced ​​corrected simulated topographic map is used as the final simulated topographic map; The position information is calculated according to the end of the formal route map in the final simulated terrain map as the final positioning information of the rail vehicle.

2. A smart shooting range trackless vehicle control method according to claim 1, characterized in that: The step of "trackless vehicle scanning the terrain ahead and uploading terrain information and location information" also includes: A laser scanner (211) is arranged at the front end of the trackless vehicle, and the laser scanner (211) scans the ground topography; Acquire the travel speed and steering angle of the trackless vehicle, and generate terrain data with relative coordinates and angles as terrain information based on the travel speed and steering angle; The trackless vehicle obtains location information and uploads terrain information and location information.

3. A smart shooting range trackless vehicle control method according to claim 2, characterized in that: The step of "generating a three-dimensional topographic map and recording the time at each set time interval based on the topographic information uploaded during the period" also includes: At each set time interval, select the terrain information uploaded during that period; Continuously splicing and fitting terrain data according to selected terrain information to generate a three-dimensional terrain map; Record the upload time of both ends of the 3D terrain map.

4. The method for controlling a trackless vehicle in a smart shooting range according to claim 1, characterized in that: The following steps are also included: Preset difference limits; Overlapping the final simulated terrain maps corresponding to each trackless vehicle to generate a total simulated terrain map; Mark the areas in the total simulated topography map where the overlaps of different final simulated topography maps are inconsistent; Selecting a plurality of final simulated topographic maps corresponding to the marked area, and calculating the volume of each final simulated topographic map corresponding to the marked area in the marked area; Subtract the calculated volumes of each final simulated terrain to obtain a difference, select the maximum difference, and determine whether the maximum difference exceeds the difference limit; If the difference limit is not exceeded, one final simulated topographic map in the marked area is retained, a final simulated topographic map that is most continuous with the edge of the marked area among all the final simulated topographic maps in the marked area is selected, the remaining final simulated topographic maps in the marked area are deleted, and the mark is eliminated; If the difference limit is exceeded, an alarm is issued.

5. A smart shooting range trackless vehicle control method according to claim 4, characterized in that: The following steps are also included: Preset slope limits; After the training is completed, the total simulated topographic map is called out and the total simulated topographic map is divided into multiple blocks; Calculate the maximum slope of the terrain in each block and determine whether the maximum slope exceeds the slope limit; If the slope limit is exceeded, the block will be marked and the marked total simulated terrain map will be displayed. When the driving path is generated next time, the driving path will not pass through the marked block.

6. A smart shooting range trackless vehicle control system, characterized by: It comprises a master control system (1) arranged on a server and a subsystem (2) arranged on each trackless vehicle, wherein the subsystem (2) comprises an information collection module (21), a wireless communication module (22), and a travel control module (23); The information acquisition module (21) scans the terrain in front of the trackless vehicle, obtains terrain information, obtains position information through a positioning device, and sends the terrain information and position information to the wireless communication module (22); The wireless communication module (22) uploads terrain information and position information, and receives the driving path. The position information obtains a reference observation value through a base station, measures a position signal and compares the position signal with a preset position coordinate to obtain an execution coordinate. The trackless vehicle compares its own position signal with the execution coordinate, obtains position information through a positioning method, and transmits the driving path and position information to a driving control module (23); The travel control module (23) determines its own position according to the position information, and then controls the movement of the trackless vehicle through the travel path; The master control system (1) comprises an information storage module (11), a path generation module (12), an image generation module (13), a three-dimensional generation module (14), a correction judgment module (15), and a positioning correction module (16); The information storage module (11) receives information uploaded by the subsystem (2) and stores the information, and the information storage module (11) pre-stores the driving range and the vehicle starting point; The path generation module (12) calls the driving range and the vehicle starting point of the information storage module (11), receives instructions to generate a driving path within the driving range, and sends the driving path to the corresponding subsystem (2); The image generation module (13) calls the information stored in the information storage module (11), generates a driving route map according to the location information, the driving range and the starting point of the vehicle, generates a three-dimensional topographic map according to the terrain information uploaded during the period of time at each set time interval and records the time, splices the three-dimensional topographic map according to the time and the driving route map to obtain a preliminary simulated topographic map, and transmits the driving route map, the three-dimensional topographic map and the preliminary simulated map to the three-dimensional generation module (14); The three-dimensional generation module (14) determines the newly added area in the received preliminary simulated topographic map, marks the newly added area, analyzes the offset travel of the trackless vehicle according to the terrain of the marked area, corrects the driving route map according to the offset travel, splices the three-dimensional topographic map according to the corrected driving route map to obtain a corrected simulated topographic map, and transmits the corrected simulated topographic map to the correction judgment module (15); The correction judgment module (15) judges whether the terrain in the corrected simulated terrain map is continuous. If it is continuous, the corrected simulated terrain map is used as the final simulated terrain map. If it is not continuous, the discontinuous area is marked, and the three-dimensional terrain map in the area is spliced ​​in a way that the terrain is continuous. The re-spliced ​​corrected simulated terrain map is used as the final simulated terrain map. The correction judgment module (15) transmits the final simulated terrain map to the information storage module (11); The positioning correction module (16) calls the final simulated topographic map of the information storage module (11), calculates the position information according to the end of the formal route map in the final simulated topographic map, takes the final positioning information of the rail vehicle as the final positioning information, and transmits the final positioning information to the data storage module and the corresponding subsystem (2).

7. The intelligent shooting range trackless vehicle control system according to claim 6 is characterized by: The information acquisition module (21) comprises a laser scanner (211) arranged at the front end of the trackless vehicle, the laser scanner (211) scans the ground terrain, the information acquisition module (21) obtains the driving speed and steering angle of the trackless vehicle, and generates terrain data with relative coordinates and angles from the ground terrain as terrain information according to the driving speed and steering angle.

8. The intelligent shooting range trackless vehicle control system according to claim 7 is characterized by: The image generation module (13) selects the terrain information uploaded within a set time interval, continuously splices and fits the terrain data according to the selected terrain information to generate a three-dimensional terrain map, and records the upload time at both ends of the three-dimensional terrain map.

9. The intelligent shooting range trackless vehicle control system according to claim 6 is characterized by: The master control system (1) further comprises a master diagram generation module (17) and a diagram review module (18); The information storage module (11) is preset with a difference limit value; The overall map generation module (17) calls the difference limit and the final simulated topographic map stored in the information storage module (11), overlaps the final simulated topographic map corresponding to each trackless vehicle to generate an overall simulated topographic map, marks the areas in the overall simulated topographic map where the overlapping parts of different final simulated topographic maps are inconsistent, and transmits the marked final simulated topographic map to the graphic review module (18); The graphic review module (18) selects a plurality of final simulated topographic maps corresponding to the marked area, calculates the volume of each final simulated topographic map corresponding to the marked area in the marked area, subtracts the calculated volumes of each final simulated topographic map to obtain a difference, selects the maximum difference, determines whether the maximum difference exceeds a difference limit, and if it does not exceed the difference limit, retains a final simulated topographic map in the marked area, selects a final simulated topographic map that is most continuous with the edge of the marked area from all the final simulated topographic maps in the marked area, deletes the remaining final simulated topographic maps in the marked area, removes the mark, and transmits the processed final simulated topographic map to the information storage module (11). If the difference limit is exceeded, the graphic review module (18) issues an alarm.

10. The intelligent shooting range trackless vehicle control system according to claim 9, characterized in that: The master control system (1) further comprises a path modification module (19); The information storage module (11) is also preset with a slope limit value; The path modification module (19) calls the slope limit value and the total simulated topographic map stored in the information storage module (11), divides the total simulated topographic map into a plurality of blocks, calculates the maximum slope of the terrain in each block, determines whether the maximum slope exceeds the slope limit value, and if so, marks the block, transmits the marked total simulated topographic map to the information storage module (11) and displays it; The path generation module (12) calls the total simulated topographic map of the information storage module (11), and when generating a driving path, the driving path will not pass through the marked blocks.

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